pie-ai-mapping

depends on project: https://github.com/turtlewizard73/pie-mapping-and-navigation.git

Setup and install

1. Clone repository and update submodules

   mkdir -p workspace/src
   cd workspace/src
   git clone https://github.com/turtlewizard73/pie-mapping-and-navigation.git
   git clone https://github.com/turtlewizard73/pie-ai-mapping.git
   

2. Checkout on development and update submodules

   cd src/pie-mapping-and-navigation
   git fetch
   git checkout development
   git pull
   git submodule update --init --recursive
   
   cd src/pie-ai-mapping
   git fetch
   git checkout development
   git pull
   git submodule update --init --recursive
   

3. Build gazebo actors plugin

   cd src/pie-mapping-and-navigation/gazebo_actor_collisions_plugin
   mkdir build
   cd build
   cmake ..
   make
   export GAZEBO_PLUGIN_PATH=$GAZEBO_PLUGIN_PATH:$(pwd)
   

4. Install dependencies and build the packages

   cd workspace/src/pie-mapping-and-navigation
   sudo xargs -a apt-dependencies.txt apt install -y
   
   cd workspace/src/pie-ai-mapping
   sudo xargs -a apt-dependencies.txt apt install -y
   pip3 install -r pip-dependencies.txt
   
   cd workspace
   catkin_make
   source devel/setup.bash
   

5. Download and load weights

   cd workspace/src/pie-ai-mapping/pie_detection/weigths
   wget https://pjreddie.com/media/files/yolov3.weights
   
   python3 pie-ai-mapping/pie_detection/scripts/convert_weights.py
   

How to use

1. start the simulation (gazebo & rviz)

   roslaunch pie_ai_bringup test.launch
   

2. moving the robot

   rosrun teleop_twist_keyboard teleop_twist_keyboard.py
   

3. Start the object and people detection

   rosrun pie_detection image_detector.py
   

4. Start displaying markers

   rosrun pie_detection pose_enplace.py
   

stuff to sort out

cd yolo pip install -r requirements.txt catkin_make --make-args run_tests

cuda: https://towardsdatascience.com/how-to-finally-install-tensorflow-gpu-on-wsl2-7be59e278f92 https://towardsdatascience.com/how-to-finally-install-tensorflow-gpu-on-windows-10-63527910f255 https://www.tensorflow.org/install/pip#windows-wsl2_1 https://docs.nvidia.com/cuda/wsl-user-guide/index.html

yolo weigths: https://pjreddie.com/darknet/yolo/

people detection: yolos scriptek: https://machinelearningspace.com/yolov3-tensorflow-2-part-1/ https://machinelearningspace.com/yolov3-tensorflow-2-part-2/ https://machinelearningspace.com/yolov3-tensorflow-2-part-3/ https://machinelearningspace.com/yolov3-tensorflow-2-part-4/ https://github.com/RahmadSadli/Deep-Learning/tree/master/YOLOv3_TF2

cuda telepítés:
    https://towardsdatascience.com/how-to-finally-install-tensorflow-gpu-on-windows-10-63527910f255
    https://towardsdatascience.com/how-to-finally-install-tensorflow-gpu-on-wsl2-7be59e278f92
    https://www.tensorflow.org/install/source#gpu

image segmentation:
    https://medium.com/analytics-vidhya/image-segmentation-with-yolov3-and-grabcut-59a0abaafa3e
    https://github.com/Cuda-Chen/fish-yolo-grabcut/blob/master/utils/GrabCut.py
    https://pyimagesearch.com/2021/01/19/image-masking-with-opencv/

install: bottleneck